PhysGraph: A Physics-aware 3D Scene Graph for Perception and Reasoning
To perform a wide range of daily tasks, robots need to construct a 3D representation that is semantically rich, physically grounded, and structured enough to support task planning and affordance prediction. However, existing approaches primarily focus on semantic retrieval, often overlooking physical and kinematic factors. Methods that attempt to model physical properties typically rely on narrow training sets or single-object modeling, limiting scalability and generalization across diverse object types. To address these challenges, we present PhysGraph, a framework that unifies symbolic reasoning with structured 3D geometry to model kinematic and physical properties in cluttered scenes. ...
| Authors | Haoyu Li, Aaron Thomas, Shuyan Zhou et al. |
|---|---|
| Primary category | cs.RO |
| Published | 7 June 2026 |
| Last updated at source | 7 June 2026 |
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